SUMMARYIn brachytherapy, the manual implantation of seeds is not accurate leading to side effects and limiting the use of new procedures. Robotics solutions have to be fully suitable for medical applications especially considering the operating room. This paper investigates a delta robot solution for improving the accuracy of the prostate brachytherapy procedure by proposing a compact and lightweight robot. In addition, the design was thought as a comanipulated robot for a better acceptability and human–machine interaction. The robot kinematics and singularities were determined and the theoretical capability in term of resolution and force feedback was evaluated. A prototype was built in order to experimentally measure the capability of this first prototype.

中文翻译：

---

专用于前列腺近距离放射治疗的联合机器人的设计和运动学

摘要在近距离放射治疗中，人工植入种子并不准确，会导致副作用并限制新程序的使用。机器人解决方案必须完全适用于医疗应用，尤其是考虑到手术室。本文研究了一种 delta 机器人解决方案，通过提出一种紧凑轻巧的机器人来提高前列腺近距离放射治疗过程的准确性。此外，该设计被认为是一种协作机器人，具有更好的可接受性和人机交互性。确定了机器人运动学和奇异性，并评估了分辨率和力反馈方面的理论能力。为了通过实验测量第一个原型的能力，建造了一个原型。